CN219501163U - robotic medical system - Google Patents

Abstract

A robotic medical system, comprising: a column substantially vertically coupled to the base; a robotic driver having a socket for receiving the post; and at least one tapered interface shaped and oriented to engage the socket to prevent rotation of the robotic driver about at least one axis.

Description

robotic medical system

technical field

The utility model generally relates to the field of robotic medical surgery systems, and in particular relates to robotic medical systems.

Background technique

Catheters and other elongated medical devices (EMDs) are used in minimally invasive medical procedures for the diagnosis and treatment of various vascular system disorders, including neurovascular interventions (NVI) (also known as neurointerventional procedures), percutaneous coronary interventions (PCI) and peripheral vascular interventions (PVI). These procedures typically involve guiding a guidewire through the vasculature and advancing a catheter over the guidewire to provide therapy. The catheterization procedure begins with access to an appropriate blood vessel, such as an artery or vein, through an introducer sheath using standard percutaneous techniques. Through the introducer sheath, the sheath or guide catheter is then advanced over a diagnostic guidewire to a primary site, such as the internal carotid artery for NVI, the coronary ostium for PCI, or the superficial femoral artery for PVI. A guide wire adapted to the vasculature is then guided through the sheath or guide catheter to the target location in the vasculature. In some cases, such as in tortuous anatomy, a support catheter or microcatheter is inserted over the guidewire to help guide the guidewire. A physician or operator may use an imaging system (eg, fluoroscopy) to obtain a cine with contrast injection and select a fixation frame to use as a roadmap to guide a guidewire or catheter to a target location, such as a lesion. Contrast-enhanced images are also obtained as the physician delivers the guidewire or catheter so that the physician can verify that the device is moving along the correct path to the target location. In viewing anatomy using fluoroscopy, the physician manipulates the proximal end of the guidewire or catheter to direct the distal tip into the appropriate vessel toward the lesion or target anatomical location and avoid advancement into side branches.

Robotic catheter-based surgical systems have been developed that can be used to assist physicians in performing catheterization procedures such as, for example, NVI, PCI, and PVI. Examples of NVI procedures include coil embolization of aneurysms, fluid embolization of arteriovenous malformations, and mechanical thrombectomy for large vessel occlusion in acute ischemic stroke. In NVI surgery, physicians use robotic systems to achieve targeted lesion access through controlled manipulation of neurovascular guidewires and microcatheters to provide therapy to restore normal blood flow. Targeted access is achieved with a sheath or guiding catheter, but intermediate catheters may also be required for more distant areas or to provide adequate support for microcatheters and guidewires. Depending on the type of lesion and treatment, the distal tip of the guidewire is guided into or through the lesion. To treat an aneurysm, a microcatheter is advanced into the lesion and the guidewire is removed, and several embolic coils are deployed through the microcatheter into the aneurysm and used to stop blood from flowing into the aneurysm. To treat arteriovenous malformations, fluid embolization is injected into the malformation site via a microcatheter. Mechanical thrombectomy to treat vessel occlusions can be achieved by aspiration and/or using a stent retriever. Depending on the location of the clot, suction can be done through a suction catheter or through a microcatheter for smaller arteries. Once the suction catheter is in the lesion, negative pressure is applied to remove the clot through the catheter. Alternatively, the stent retriever can be deployed through a microcatheter to remove the clot. Once the clot is integrated into the stent retriever, the clot is retrieved by retracting the stent retriever and microcatheter (or intermediate catheter) into the guide catheter.

In PCI, physicians use a robotic system to gain access to the lesion by manipulating a coronary guidewire to deliver treatment and restore normal blood flow. Access is achieved by placing a guide catheter in the coronary ostia. The distal tip of the guidewire is guided through the lesion, and for complex anatomy, a microcatheter can be used to provide adequate support for the guidewire. Blood flow is restored by delivering and deploying a stent or balloon over the lesion. Lesions may need to be prepared prior to stent implantation, either by delivering a balloon to pre-dilate the lesion, or by performing atherectomy using, for example, a laser or a balloon over a rotational atherectomy catheter and guide wire. Diagnostic imaging and physiological measurements to determine appropriate therapy can be performed through the use of imaging catheters or fractional flow reserve (FFR) measurements.

In PVI, physicians use a robotic system to deliver treatment and restore blood flow using techniques similar to NVI. The distal tip of the guidewire is guided through the lesion, and for complex anatomy, a microcatheter can be used to provide adequate support for the guidewire. Blood flow is restored by delivering and deploying a stent or balloon to the lesion. As with PCI, lesion preparation and diagnostic imaging can also be used.

Over-the-wire (OTW) catheters or equivalents are used when support is required at the distal end of the catheter or guidewire, for example, when navigating in tortuous or calcified vasculature to reach distal anatomical sites or to traverse hard lesions. shaft system. OTW catheters have a lumen for a guide wire that extends the full length of the catheter. This provides a relatively stable system because the guidewire is supported along its entire length. However, this system has several drawbacks compared to quick-change catheters, including higher friction and a longer overall length (see below). Typically to remove or replace an OTW catheter while maintaining the position of the indwelling guidewire, the exposed length of the guidewire (outside the patient) must be longer than the OTW catheter. A 300 cm long guidewire is usually sufficient for this purpose and is often referred to as a replacement length guidewire. Due to the length of the guidewire, two operators are required to remove or replace the OTW catheter. This becomes even more challenging if triple coaxial, known in the art as a triaxial system, is used (also known to use quadruple coaxial catheters). However, due to its stability, the OTW system is frequently used in NVI and PVI procedures. PCI procedures, on the other hand, typically use quick-change (or monorail) catheters. The guidewire lumen in rapid exchange catheters passes only through the distal section of the catheter, known as the monorail or rapid exchange (RX) section. With the RX system, the operator can steer the interventional devices parallel to each other (as opposed to the OTW system, where devices are steered in a serial configuration), and the exposed length of the guidewire need only be slightly longer than the RX segment of the catheter. Quick-change length guidewires are typically 180-200 cm long. Given the short guidewire and monorail length, the RX catheter can be changed by a single operator. However, when more distal support is required, the RX catheter is often insufficient.

Utility model content

According to one embodiment, a robotic medical system includes a post that is substantially vertical and coupled to a base; a robotic drive having a socket for receiving the post; and at least one tapered interface shaped and oriented to engage the socket to prevent The robotic drive rotates about at least one axis.

In one embodiment, the tapered interface includes at least two tapered keys.

In one embodiment, the post is substantially cylindrical, and the tapered keys are located at approximately 180 degree intervals along the circumference of the post.

In one embodiment, the receptacle includes a tapered cavity shaped and positioned to receive the tapered key and cause physical engagement of the post and robotic drive.

In one embodiment, the post includes at least one insertion interface to facilitate insertion of the post into the receptacle.

In one embodiment, the post is cylindrical and the insertion interface includes at least one cylindrical portion along the length of the post configured to engage an inner bushing of the receptacle.

In one embodiment, the at least one cylindrical portion comprises a plurality of cylindrical portions spaced along the length of the column.

In one embodiment, the plurality of cylindrical sections have progressively decreasing diameters along the length of the column.

In one embodiment, the insertion interface comprises a male tip at the terminal end of the post.

In one embodiment, each tapered key extends from the tapered portion of the post to the outer periphery of the base portion of the post.

In one embodiment, the post has a cross-sectional shape selected from one of circular, elliptical, or polygonal.

In one embodiment, the tapered key includes an inclined surface and a non-inclined surface, wherein the inclined surface is not perpendicular to the base and the non-inclined surface is substantially perpendicular to the base.

In one embodiment, a robotic medical system includes a positioning system coupled to the base, the positioning system including a substantially vertical post. The T robot driver has a socket for receiving a column. The post includes at least two tapered keys to engage the receptacle, the tapered keys being positioned at the bottom end of the post and oriented in opposite fashion to prevent rotation of the robotic drive about at least one axis.

In one embodiment, the socket includes a tapered cavity for receiving a tapered key to cause physical engagement of the post and socket.

In one embodiment, the post includes at least one insertion interface to facilitate insertion of the post into the receptacle.

In one embodiment, the insertion interface includes at least one cylindrical portion along the length of the post configured to engage an internal bushing disposed in the receptacle.

In one embodiment, the insertion interface comprises a male tip at the terminal end of the post.

In one embodiment, the tapered key includes an inclined surface and a non-inclined surface, wherein the inclined surface is not perpendicular to the base and the non-inclined surface is substantially perpendicular to the base.

In one embodiment, a robotic medical system includes a positioning system coupled to a base. The positioning system includes a substantially vertical mast including a receiving portion disposed on a top portion of the mast. The robotic driver has an attachment interface for engaging the receiving portion of the post and the receiving portion includes a tapered interface and the attachment interface includes a tapered hook configured to engage the tapered interface of the receiving portion.

In one embodiment, the receiving portion further comprises a tapered cavity disposed orthogonally to the tapered interface, and wherein the attachment interface comprises a tapered protrusion for insertion into the tapered cavity.

In one embodiment, the engagement of the tapered interface and the tapered hook prevents yaw movement of the robotic actuator, and the engagement of the tapered cavity and the tapered protrusion prevents pitch movement of the robotic actuator.

Description of drawings

The present invention will be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, wherein reference numerals refer to like parts, in which:

1 is a perspective view of an exemplary catheter-based surgical system, according to an embodiment;

2 is a schematic block diagram of an exemplary catheter-based surgical system, according to an embodiment;

3 is a side view of the exemplary catheter-based surgical system of FIG. 1 with certain components removed for clarity;

Figure 4 is a perspective view of an exemplary positioning system for a robotic drive, according to an embodiment;

5 is a perspective view of an exemplary catheter-based surgical system with a robotic drive attached to the positioning system;

6 is a perspective view illustrating an example pole of a positioning system and an example robotic driver for attaching to the pole, according to an embodiment;

7 is a detailed illustration of an exemplary post for attaching the positioning system of the robotic drive of FIG. 6;

Figure 8 is a detailed exploded view illustrating the attachment of a robot drive to the positioning system of Figures 6 and 7;

Figures 9A, 10A and 11A illustrate mounting of an example robotic drive for attachment to an example positioning system, according to an embodiment;

9B, 10B, and 11B are cross-sectional views of FIGS. 9A, 10A, and 11A, respectively;

12 is a perspective view illustrating an example pole of a positioning system and an example robotic driver for attachment to the pole, according to an embodiment;

Figure 13 is a detailed view illustrating the attachment of a robot drive to the positioning system of Figure 12;

14 is a cross-sectional view of the attachment of FIG. 13 taken along 14-14 of FIG. 13;

Figure 15 is a cross-sectional view of Figure 13 attached and taken along 15-15 of Figure 14;

16A is a post in a perspective view for mounting an example robotic actuator for attachment to an example positioning system, under an embodiment;

Figure 16B is another perspective view of the column of Figure 16A; and

Figure 17 is a receptacle to receive the post of Figure 16A.

Detailed ways

FIG. 1 is a perspective view of an exemplary catheter-based surgical system 10 according to an embodiment. Catheter-based surgical system 10 may be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, such as percutaneous coronary intervention (PCI) (for example, to treat STEMI), neurovascular interventional procedures (NVI) (for example, to treat emergency Large Vessel Occlusion (ELVO), Peripheral Vascular Intervention (PVI) (eg, for Critical Limb Ischemia (CLI), etc.). Catheter-based medical procedures may include diagnostic catheterization procedures, during which one or more catheters or other elongated medical devices (EMDs) are used to help diagnose a patient's disease. For example, during one embodiment of a catheter-based diagnostic procedure, a contrast agent is injected through the catheter into one or more arteries and an image of the patient's vasculature is taken. Catheter-based medical procedures may also include catheter-based therapeutic procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, clot removal, arteriovenous malformation treatment, aneurysm treatment, etc.), during which the catheter (or other EMD) for the treatment of disease. Therapeutic procedures may be enhanced by the inclusion of accessory devices 54 (shown in FIG. 2 ), such as, for example, intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), and the like. It should be noted, however, that those skilled in the art will recognize that certain particular percutaneous interventional devices or components may be selected based on the type of procedure to be performed (eg, type of guide wire, type of catheter, etc.). The catheter-based surgical system 10 can perform any number of catheter-based medical procedures with minor adjustments to suit the particular percutaneous interventional device used in the procedure.

Catheter-based surgical system 10 includes a bedside unit 20 and a control station (not shown), among other elements. The bedside unit 20 includes a robotic drive 24 and a positioning system 22 positioned adjacent to the patient 12 . Patient 12 is supported on patient table 18 . The positioning system 22 is used to position and support the robot drive 24 . The positioning system 22 may be, for example, a robotic arm, an articulated arm, a holder, or the like. One end of the positioning system 22 may be attached to, for example, the patient table 18 (shown in FIG. 1 ), a base, or a cart. The other end of the positioning system 22 is attached to a robot drive 24 . Positioning system 22 can be moved out of the way (along with robotic drive 24 ) to allow patient 12 to be placed on patient table 18 . Once the patient 12 is positioned on the patient table 18, the positioning system 22 may be used to position or position the robotic drive 24 relative to the patient 12 for the procedure. In one embodiment, patient table 18 is operably supported by base 17 secured to the floor and/or ground. Patient table 18 is movable relative to base 17 in multiple degrees of freedom, such as roll, pitch and yaw. The bedside unit 20 may also include controls and a display 46 (shown in FIG. 2 ). For example, the controls and display may be located on the housing of the robot drive 24 .

Typically, robotic driver 24 may be equipped with appropriate percutaneous interventional devices and accessories 48 (as shown in FIG. 2 ) (e.g., guidewires, catheters of various types, including balloon catheters, stent delivery systems, stent retrievers, Embolization coils, liquid embolisms, suction pumps, devices for delivering contrast media, drugs, hemostatic valve adapters, syringes, stopcocks, inflation devices, etc.) to allow the user or operator to operate various controls via the robotic system (such as those located on the control controls and inputs at the station) to perform catheter-based medical procedures. The bedside unit 20, and in particular the robotic driver 24, may include any number and/or combination of components to provide the bedside unit 20 with the functionality described herein. The robotic drive 24 includes a plurality of device modules 32a-d mounted to rails or linear members. Each device module 32a-d may be used to drive an EMD, such as a catheter or guidewire. For example, robotic driver 24 may be used to automatically advance a guidewire into a diagnostic catheter and into a guide catheter in an artery of patient 12 . One or more devices, such as an EMD, enter the body (eg, blood vessel) of patient 12 at insertion point 16 via, for example, an introducer sheath.

The bedside unit 20 is in communication with a control station (not shown), allowing signals generated by user input from the control station to be wirelessly or hardwired to the bedside unit 20 to control various functions of the bedside unit 20 . As discussed below, control station 26 may include or be coupled to bedside unit 20 through control computing system 34 (shown in FIG. 2 ). The bedside unit 20 may also provide feedback signals (eg, load, speed, operating conditions, warning signals, error codes, etc.) to the control station, the control computing system 34 (shown in FIG. 2 ), or both. Communication between the control computing system 34 and the various components of the catheter-based surgical system 10 may be provided via communication links, which may be wireless connections, cable connections, or any other means capable of allowing communication to occur between the components. . A control station or other similar control system may be located at a local site (eg, local control station 38 shown in FIG. 2 ) or a remote site (eg, remote control station and computer system 42 shown in FIG. 2 ). Catheter surgery system 10 may be operated by a control station at a local site, by a control station at a remote site, or by both local and remote control stations. At the local site, the user or operator and control station are located in the same room as or adjacent to the patient 12 and bedside unit 20 . As used herein, a local site is the location of the bedside unit 20 and patient 12 or subject (eg, an animal or cadaver), and a remote site is the location of a user or operator and a control station for remotely controlling the bedside unit 20 . For example, the control station (and control computing system) at the remote site and the bedside unit 20 and/or control computing system at the local site may communicate over the Internet using the communication system and server 36 (shown in FIG. 2 ). In an embodiment, the remote site and the local (patient) site are remote from each other, e.g., different rooms in the same building, different buildings in the same city, different cities, or the remote site does not have physical access to the bedside unit at the local site 20 and/or other different positions of the patient 12.

The control station generally includes one or more input modules 28 configured to receive user input to operate the various components or systems of the catheter-based surgical system 10 . In the illustrated embodiment, the control station allows a user or operator to control the bedside unit 20 to perform catheter-based medical procedures. For example, input module 28 may be configured to cause bedside unit 20 to perform various tasks (e.g., advance, retract, or rotate a guidewire, advance, retract, or Rotate catheter, inflate or deflate balloon on catheter, position and/or deploy stent, position and/or deploy stent retriever, position and/or deploy coil, inject contrast medium into catheter, inject fluid embolism catheter, infuse drugs or saline into the catheter, aspirate on the catheter, or perform any other function that might be performed as part of a catheter-based medical procedure). Robotic drives 24 include various drive mechanisms to cause movement (eg, axial and rotational movement) of components of bedside unit 20 including percutaneous interventional devices.

In one embodiment, input module 28 may include one or more touch screens, joysticks, scroll wheels, and/or buttons. In addition to the input module 28, the control station 26 may also employ additional user controls 44 (shown in FIG. 2), such as a foot switch and a microphone for voice commands, among others. Input module 28 may be configured to advance, retract, or rotate various components and percutaneous interventional devices, such as, for example, guide wires, and one or more catheters or microcatheters. Buttons may include, for example, an emergency stop button, a multiplier button, a device selection button, and an auto move button. When the emergency stop button is pressed, power (eg, electrical power) to the bedside unit 20 is cut off or removed. When in the speed control mode, the multiplier button is used to increase or decrease the speed at which the associated component moves in response to manipulation of the input module 28 . When in position control mode, the multiplier button changes the mapping between the input distance and the output command distance. The device selection buttons allow a user or operator to select which percutaneous interventional devices loaded into robotic drive 24 are to be controlled by input module 28 . The automatic movement button is used to enable algorithmic movements that the catheter-based surgical system 10 can perform on the percutaneous interventional device without direct commands from the user or operator 11 . In one embodiment, the input module 28 may include one or more controls or icons (not shown) displayed on the touch screen (which may or may not be part of the display) which, when activated, Operation of components of catheter-based surgical system 10 may result. The input module 28 may also include balloon or stent controls configured to inflate or deflate the balloon and/or deploy the stent. Each input module 28 may include one or more buttons, scroll wheels, joysticks, touch screens, etc., which may be used to control one or more specific components dedicated to that control. Additionally, the one or more touch screens may display one or more icons (not shown) associated with various portions of the input module 28 or with various components of the catheter-based surgical system 10 .

Catheter-based surgical system 10 also includes imaging system 14 . Imaging system 14 may be any medical imaging system that may be used in conjunction with catheter-based medical procedures (eg, non-digital x-ray, digital x-ray, CT, MRI, ultrasound, etc.). In the exemplary embodiment, imaging system 14 is a digital x-ray imaging device in communication with a control station. In one embodiment, imaging system 14 may include a C-arm (as shown in FIG. 1 ) that allows imaging system 14 to rotate partially or completely about patient 12 to obtain images at different angular positions relative to patient 12. Images (eg, sagittal, caudal, anteroposterior, etc.). In one embodiment, the imaging system 14 is a fluoroscopic system comprising a C-arm with an X-ray source 13 and a detector 15, also known as an image intensifier.

Imaging system 14 may be configured to take x-ray images of appropriate regions of patient 12 during surgery. For example, imaging system 14 may be configured to take one or more x-ray images of the head to diagnose neurovascular conditions. Imaging system 14 may also be configured to take one or more x-ray images (e.g., real-time images) during a catheter-based medical procedure to assist the user of control station 26 or operator 11 in properly positioning the guidewire, guiding Catheters, microcatheters, stent retrievers, coils, stents, balloons, etc. One or more images may be displayed on display 30 . For example, images may be displayed on a display to allow a user or operator to accurately move a guide catheter or wire into place.

For orientation, a Cartesian coordinate system with X, Y and Z axes is introduced. The positive X-axis is oriented in the longitudinal (axial) distal direction, ie in the direction from proximal to distal, in other words from proximal to distal. The Y and Z axes lie in the transverse plane of the X axis, the positive Z axis is oriented upwards, ie in the direction opposite to gravity, and the Y axis is automatically determined by the right hand rule.

FIG. 2 is a block diagram of a catheter-based surgical system 10 according to an exemplary embodiment. Catheter surgery system 10 may include control computing system 34 . Control computing system 34 may physically be part of a control station, for example. Control computing system 34 may generally be an electronic control unit adapted to provide catheter-based surgical system 10 with the various functions described herein. For example, control computing system 34 may be an embedded system, a dedicated circuit, a general-purpose system programmed with the functions described herein, or the like. Control computing system 34 with bedside unit 20, communication system and server 36 (e.g., Internet, firewall, cloud server, session manager, hospital network, etc.), local control station 38, additional communication system 40 (e.g., telepresence system) , remote control station and computing system 42, and patient sensors 56 (eg, electrocardiogram (ECG) devices, electroencephalogram (EEG) devices, blood pressure monitors, temperature monitors, heart rate monitors, respiration monitors, etc.) in communication. The control computing system is also in communication with the imaging system 14, the patient table 18, an additional medical system 50, a contrast injection system 52, and ancillary devices 54 (eg, IVUS, OCT, FFR, etc.). Bedside unit 20 includes robotic drive 24 , positioning system 22 and may include additional controls and display 46 . As mentioned above, additional controls and displays may be located on the housing of the robot drive 24 . Interventional devices and accessories 48 (eg, guidewires, catheters, etc.) are connected to the bedside system 20 . In embodiments, interventional devices and accessories 48 may include dedicated devices (e.g., IVUS catheters, OCT catheters, FFR wires, diagnostic catheters for imaging, etc.) connected to their respective accessory devices 54, i.e., IVUS systems, OCT system and FFR system, etc.

In various embodiments, control computing system 34 is configured to control computing system 34 based on user interaction with input module 28 (eg, of a control station such as local control station 38 or remote control station 42 ) and/or based on accessibility to control computing system 34 . The information generates control signals so that the catheter-based surgical system 10 can be used to perform medical procedures. Local control station 38 includes one or more displays 30 , one or more input modules 28 and additional user controls 44 . The remote control station and computing system 42 may include similar components as the local control station 38 . Remote control station 42 and local control station 38 can be different and customized based on their desired functionality. Additional user controls 44 may include, for example, one or more foot input controls. The foot input controls may be configured to allow the user to select functions of the imaging system 14, such as turning x-rays on and off and scrolling through different stored images. In another embodiment, the foot input device may be configured to allow the user to select which devices are mapped to the scroll wheel included in the input module 28 . Additional communication systems 40 (eg, audio conferencing, video conferencing, telepresence, etc.) may be employed to assist the operator in interacting with the patient, medical personnel (eg, vascular kit personnel), and/or devices near the bedside.

Catheter-based surgical system 10 may be connected or configured to include any other systems and/or devices not expressly shown. For example, catheter-based surgical system 10 may include an image processing engine, data storage and archiving system, automated balloon and/or stent inflation system, drug injection system, drug tracking and/or recording system, user logs, encryption system, restricted access Or a system using a catheter-based surgical system 10, etc.

As mentioned, control computing system 34 communicates with bedside unit 20, which includes robotic drive 24, positioning system 22, and may include additional controls and display 46, and may provide control signals to bedside unit 20 to Controls the operation of motors and drive mechanisms used to drive percutaneous interventional devices (eg, guidewires, catheters, etc.). Various drive mechanisms may be provided as part of robot drive 24 .

Referring now to FIG. 3 , there is shown a side view of the exemplary catheter-based surgical system 10 of FIG. 1 with certain components (eg, patient, C-arm) removed for clarity. As described above with reference to FIG. 1 , the patient table 18 is supported on the base 17 and the robot drive 24 is mounted to the patient table by a positioning system 22 . Positioning system 22 allows for manipulation of robotic drive 24 relative to patient table 18 . In this regard, positioning system 22 is securely mounted to patient table 18 and includes various joints and linkages/arms to allow for manipulation, as described below with reference to FIG. 4 .

FIG. 4 is a perspective view of an exemplary positioning system 22 for a robotic drive, according to an embodiment. The positioning system 22 includes a mounting arrangement 60 to securely mount the positioning system 22 to the patient table 18 . The mounting arrangement 60 includes an engagement mechanism to engage a first engagement member with the first longitudinal track and a second engagement member with the second longitudinal track of the patient table 18 to removably secure the positioning system to the patient table 18 .

Positioning system 22 includes various segments and joint couplings to allow robotic drive 24 to be positioned as desired, for example relative to the patient. Positioning system 22 includes a first swivel joint 70 coupled to mounting arrangement 60 . The first swivel joint 70 allows the first arm 72 or link to rotate about an axis of rotation. In the example shown, the mounting arrangement 60 is in a substantially horizontal plane (eg, the plane of the patient table 18 ) and the axis of rotation is substantially vertical and extends through the center of the first swivel joint 70 . The first swivel joint 70 may include circuitry that allows a user to control the rotation of the first swivel joint 70 .

In the example shown, the first arm 72 is substantially horizontal with a first end coupled to the first swivel joint 70 . A second end of the first arm 72 is coupled to a second swivel joint 74 . Additionally, a second swivel joint 74 is also coupled to a first end of a second arm 76 . Thus, the second swivel joint 74 allows the second arm 76 to rotate relative to the first arm 72 . Like the first swivel joint 70 , the second swivel joint 74 allows rotation about a substantially vertical axis extending through the center of the second swivel joint 74 . Additionally, the second swivel joint 74 may include circuitry that allows a user to control the rotation of the second swivel joint 74 .

In the example shown, the second end of the second arm 76 is coupled to a third swivel joint 78 . The third swivel joint 78 includes posts 80 to allow mounting of the robotic drive 24 to the positioning system 22 . Thus, the third swivel joint 78 allows the robot drive 24 to rotate relative to the second arm 76 . The third swivel joint 78 allows rotation about a substantially vertical axis extending through the center of the third swivel joint 78 . Additionally, the third swivel joint 78 may include circuitry that allows a user to control the rotation of the third swivel joint 78 .

In one example, the second arm 76 includes a 4-arm linkage that may allow limited vertical movement of the third swivel joint 78 relative to the second swivel joint 74 . In this regard, the 4-arm linkage may allow vertical movement of the third swivel joint 78 while maintaining the substantially vertical orientation of the third swivel joint 78 and post 80 .

FIG. 5 is a perspective view of catheter-based surgical system 10 with robotic driver 24 attached to positioning system 22 . In various examples, robotic drive 24 is mounted to positioning system 22 in a secure manner and without the use of any special or specialized tools. Furthermore, it is desirable that the connection of the robotic drive 24 to the positioning system 22 be rigid, with minimal or no backlash. In this regard, the stiffness of the connection is required in all six degrees of freedom. The six degrees of freedom include translation along or rotation about the three axes of the coordinate system shown in FIG. 5 . The X-axis is longitudinally aligned with the length of the robot drive, the Y-axis is a horizontal axis perpendicular to the X-axis, and the Z-axis is vertically aligned. As used herein, "roll" refers to rotation of the robot drive 24 about the X axis, "pitch" refers to rotation of the robot drive 24 about the Y axis, and "yaw" refers to rotation of the robot drive 24 about the Z axis.

In various examples described herein, the robotic drive is provided with a receptacle 90 for receiving the post 80 of the positioning system 22, as more clearly illustrated in FIG. 6 . As noted above, post 80 is substantially vertical and is coupled to a base such as positioning system 22 or patient table 18 . Thus, when the robotic drive 24 is positioned onto the positioning system 22, the socket 90 of the robotic drive 24 receives the post 80 therein. The weight of the robotic drive 24 provides sufficient downward force to secure the robotic drive 24 to the positioning system 22 against any translation in the vertical direction (ie, along the Z axis). The robotic drive may be equal to or about 222N (or about 50 lbs). The post on the arm and the socket on the driver are positioned to help keep liquid out of the socket. However, it is also conceivable in one embodiment that the column is located on the robot drive 24 and the socket is located on the arm.

FIGS. 7 and 8 provide a detailed illustration of an example post 80 of the positioning system 22 and a detailed exploded view illustrating the attachment of the socket 90 of the robot drive 24 to the socket 90 of the positioning system 22 . In various examples, post 80 is provided with at least one tapered interface to engage receptacle 90 . The tapered interface is oriented to prevent rotation of the robotic drive 24 about at least one axis. In addition, taper keys are also constrained in the vertical direction (Z axis). In the example shown in FIGS. 7 and 8 , the post 80 is provided with a set of tapered interfaces or keys 82 a , 82 b to engage the socket 90 of the robot drive 24 . The column has a top end and a bottom end. The bottom end is adjacent to the base, and the top end is opposite the bottom end. Tapered keys 82a, 82b are positioned at the bottom end of post 80 and are oriented in opposite fashion to prevent rotation of the robot drive about at least one axis. In the example shown, the tapered keys 82 a , 82 b are located on opposite sides of the post 80 , or approximately 180 degrees apart along the circumference of the post 80 . In other examples, the tapered keys 82a, 82b may be positioned at positions other than about 180 degrees, but spaced far enough apart that tapering of the tapered keys 82a, 82b prevents rotation of the robot drive. 7, 16A and 16B, the first tapered key 82a includes an inclined surface 232c and a non-inclined surface 232g, and the second tapered key 82b includes an inclined surface 232d and a non-inclined surface 232f. The sloped and non-sloped surfaces extend upwardly from the base along the length of the column. Keys can be attached to bases or posts. The sloped surfaces 232c and 232d have slopes that are not perpendicular to the base portion or the upper surface of the base portion 234a. The non-sloping surface is perpendicular or substantially perpendicular to the ground plane and/or the base portion or an upper surface of the base portion. Tapered keys 82 and 82b each have a height extending from the upper surface of the base in a direction parallel to the longitudinal axis of post 80 . The height and width of the tapered keys 82 and 82b are sufficient to resist torque applied to the receptacle 236 by a column about a vertical or longitudinal axis to ensure that the receptacle 236 does not climb up the sloped surfaces 232c and 232d of the tapered keys 82 and 82b, respectively. The geometry of tapered keys 82 and 82b may also be applied to post 80 and post 110 as described herein. In the embodiment shown in FIG. 8, the tapered keys 82a, 82b have the same shape and are in the same orientation, 180 degrees apart from each other. Similarly, corresponding tapered cavities 92 have the same shape and are in the same orientation, 180 degrees apart from each other, corresponding to the location of the tapered keys 82a, 82b. In the example of Figures 7 and 8, the set of tapered keys 82a, 82b comprises two keys. In other examples, the number of keys may be other than two. For example, additional taper keys can be provided to increase the resistance to rotation of the robotic drive. In one embodiment, a single key has two opposing tapered surfaces.

The taper angle of the taper keys 82a, 82b is selected to prevent rotation of the robot drive. In this regard, the taper of the tapered keys 82a, 82b should be steep enough that the weight of the robot driver prevents the driver from climbing up the steepness of the tapered keys 82a, 82b. On the other hand, the steepness of the taper of the tapered keys 82a, 82b should be limited to allow installation and removal of robotic drives without excessive resistance.

The socket 90 of the robot drive 24 is provided with a tapered cavity 92 for receiving the tapered keys 82a, 82b to cause physical engagement of the post and the robot drive. In this regard, the tapered keys 82a, 82b of the post 80 and the corresponding tapered cavity 92 of the receptacle 90 are positioned to engage each other and orient the robot drive 24 in the desired orientation relative to the positioning system 22 in the X-Y plane. In various examples, the tapered keys 82a, 82b are sized sufficiently large to at least allow the tapered surface of the cavity 92 to make secure contact with the tapered keys 82a, 82b.

Furthermore, the tapered keys 82a, 82b of the post 80 and the corresponding cavity 92 of the socket 90 are formed to face the same direction and thus rotate relative to each other. In this regard, the tapering of the tapered keys 82a, 82b in opposite rotational directions along the circumference of the post 80 prevents or minimizes rotation or deflection about the Z-axis.

In the example of FIGS. 7 and 8 , the column 80 includes at least one insertion interface to facilitate insertion of the column 80 into the socket 90 . In this regard, the column 80 is provided with cylindrical portions 84a, 84b. Cylindrical sections 84a, 84b are formed along the vertical length of column 80 . In the example shown in FIGS. 7 and 8 , the column 80 is provided with two cylindrical portions 84 a , 84 b spaced apart along the vertical length of the column 80 .

Correspondingly, the socket 90 is provided with internal bushings 94a, 94b positioned along the vertical length of the cavity of the socket 90 . In the example of FIG. 8 , the bushings are shown as separate bushings positioned in various regions of the receptacle 90 to correspond to the positions of the cylindrical portions 84 a , 84 b of the post 80 . In other examples, multiple bushings 94a, 94b may be formed as part of a single integrated piece within the receptacle. A single integrated piece can provide a smoother surface with minimal discontinuities or protrusions. When post 80 is received in receptacle 90, cylindrical portions 84a, 84b engage corresponding bushings 94a, 94b. Bushings 94a, 94b are sized to fit securely around cylindrical portions 84a, 84b, thereby preventing any lateral movement of robotic drive 24 relative to positioning system 22 in the X-Y plane. Additionally, the secure fit of the cylindrical portions 84a, 84b along the vertical length of the post 80 with the bushings 94a, 94b and the cavities of the socket 90 minimizes or prevents rotation of the robot drive 24 relative to the positioning system 22 about the X (roll) and Y axes. Axis (pitch) rotation.

To facilitate insertion of the post 80 into the receptacle 90, the cylindrical portions 84a, 84b have tapering diameters along the length of the post. In this regard, the first cylindrical portion 84a from the base of the column has a larger diameter than the second cylindrical portion 84b. Thus, during insertion, the second cylindrical portion 84b passes the bushing 94a corresponding to the first cylindrical portion 84a without resistance. Using multiple cylindrical sections with sufficient tolerances provides stability and resistance against rotation about the X axis (roll) and about the Y axis (pitch).

Various embodiments may include electrical connections between the positioning system 22 and the robotic drive 24 . In this embodiment, the electrical pins and receptacles will be integrated into the post 80 and mating receptacle 90, and when the mechanical connection is made, the electrical connection will be made at the same time.

Figures 9A, 10A, and 11A illustrate the mounting of an exemplary robot drive for attachment to an exemplary positioning system according to another embodiment, and Figures 9B, 10B, and 11B are, respectively, Figs. and the cross-sectional view of Figure 11A. 9A-11B illustrate the attachment 100 with the post 110 of the positioning system inserted into the socket 120 of the robot drive. Post 110 and receptacle 120 of FIGS. 9A-11B are similar to post 80 and receptacle 90 , respectively, described above with reference to FIGS. 5-8 . In this regard, the column 110 is provided with tapered interfaces or keys 112a, 112b at the bottom of the column 110 . As noted above, the tapered keys 112a, 112b are positioned on opposite sides of the post (ie, approximately 180 degrees apart) and oriented in the same direction (ie, relative rotation). The socket 120 is provided with a cavity 122 to receive the tapered keys 112a, 112b therein. Engagement of the tapered keys 112a, 112b of the post 110 and the cavity 122 of the receptacle 120 minimizes or prevents (yaw) rotation of the robot drive relative to the positioning system about the Z-axis.

Furthermore, the post 110 is provided with cylindrical portions 114a, 114b. Correspondingly, the socket 120 is provided with bushings 124a, 124b positioned along the vertical length of the cavity of the socket 120 . When post 110 is received in receptacle 120 as shown in FIG. 11B , cylindrical portions 114a, 114b engage corresponding bushings 124a, 124b. The engagement of the cylindrical portions 114a, 114b with the bushings 124a, 124b prevents any lateral movement in the X-Y plane of the robot drive relative to the positioning system. Additionally, the secure fit of the cylindrical portions 114a, 114b along the vertical length of the column 110 with the bushings 124a, 124b and the cavity of the socket 120 minimizes or prevents the robot drive from orbiting the X-axis (roll) and Y-axis (roll) relative to the positioning system. Pitch) Rotation.

In the example shown in Figures 9A-1 IB, the post 110 is provided with an insertion interface in the form of a convex tip 116 at the top end of the post 110, which may be at or near the top end of the post. Convex tip 116 facilitates insertion of post 110 into the cavity of receptacle 120 . As shown in FIGS. 10A and 10B , the convex tip 116 may serve as a guide for inserting the post 110 into the receptacle 120 . Additionally, the use of the convex tip 116 prevents the top of the post 110 from snagging on features of the receptacle 120 , thereby ensuring insertion of the post 110 into the receptacle 120 to ensure engagement of the receptacle 120 and post 110 . In the example shown in FIGS. 9A-11B , the convex tip 116 is a spherical tip. In other examples, the convex tip 116 may have any of a variety of convex forms. The post and receptacle are designed so that when the post and receptacle intersect, misalignment in the direction of deflection can be adjusted by manually moving the post and receptacle relative to each other until the receptacle is properly seated on the post. This is achieved by the flat part on the bottom of the socket.

Reference is made to Figures 16A, 16B and 17, which illustrate another exemplary attachment of a post of a base (eg, a positioning system) and a robotic drive 204, according to an embodiment. In one embodiment, post 230 includes a cylindrical base portion 234a, a transition cylindrical portion 234b, a frustoconical portion 234c, and a top cylindrical portion 234d. In this embodiment, a first tapered interface or key 232a and a second tapered interface or key 232b are integrally formed with the base portion 234a and extend between the outer perimeter of the transition cylindrical portion 234b and the outer perimeter of the base portion 234a the whole distance. In other words, the radially outer surfaces of the tapered keys 232a and 232b, respectively measured from the longitudinal axis of the post 230, are adjacent to the radially outer perimeter of the base portion 234a. In one embodiment, tapered keys 232a and 232b are integrally formed with base portion 234a, transition cylindrical portion 234b, frustoconical portion 234c, and top cylindrical portion 234d. In one embodiment, tapered keys 232a and 232b, base portion 234a, transition cylindrical portion 234b, frusto-circular tapered portion 234c, and top cylindrical portion 234d have hard black anodized surfaces.

The first tapered key 232a includes an inclined surface 232c and a substantially vertical surface 232g, and the second tapered key 232b includes an inclined surface 232d and a substantially vertical surface 232f. The inclined surfaces 232c and 232d have inclined portions that are not perpendicular to the upper surface of the base portion 234a. Tapered keys 232a and 232b each have a height extending from an upper surface of base portion 234a in a direction parallel to the longitudinal axis of post 230 . Tapered key 232a includes an upper surface 232h, and tapered key 232b includes an upper surface 232i. The height and width of the tapered keys 232a and 232b are sufficient to resist torque applied to the receptacle 236 by the column about the vertical or longitudinal axis to ensure that the receptacle 236 does not climb up the sloped surfaces 232c and 232d of the tapered keys 232a and 232ab respectively. The geometry of tapered keys 232a and 232b may also be applied to posts 80 and 110 as described herein. The axial length of the cylindrical interface is short enough that a single interface never reacts to pitch or roll moments, they always have to react between 2 different cylindrical sections. If a single cylindrical interface could react to these moments, the point loads would be very high, and then loading and removing the drive would be very difficult.

Referring to FIG. 17 , the receptacle 236 includes a cavity that receives the post 230 . The receptacle 236 includes a first key receiving portion 238a and a second key receiving portion 238b each having an inclined surface aligned with the tapered key inclined surfaces 232c and 232d, respectively, in the installed position. In one embodiment, the first key receiving portion 238a and the second key receiving portion 238b are formed of a copper material.

Referring now to FIGS. 12-15 , another exemplary attachment 200 of a post 202 and a robotic drive 204 of a base (eg, positioning system) is illustrated, in accordance with an embodiment. FIG. 12 is a perspective view illustrating an example column 202 and an example attachment interface 220 of the robotic drive 204 for attaching the robotic drive 204 to the column 202 . FIG. 13 shows the attachment 200 of the robotic drive 204 to the column 202 .

Attachment interface 220 is formed as a receptacle for receiving at least a portion of substantially vertical post 202 therein. The post 202 is provided with a tapered interface 212 to engage an attachment interface 220 . In this regard, the attachment interface 220 is provided with tapered hooks 222 to engage the tapered interface 212 of the post. Tapered interface 212 is oriented to prevent rotation of robotic drive 204 about at least one axis.

A tapered hook 222 of the attachment interface 220 is formed at a top portion of the attachment interface 220 . The tapered interface 212 of the post 202 is formed in a receptacle 210 provided on the top surface of the post 202 . As shown in FIG. 13 , the tapered hook 222 of the attachment interface 220 is positioned over and around the tapered interface 212 of the column 202 when the robotic drive 204 is attached to the column 202 , as shown in the cross-sectional view provided in FIG. 14 . Illustrate more clearly in .

The tapered interface 212 formed in the receiving part 210 tapers downward. Thus, the tapered surface of the tapered hook 222 engages the tapered surface of the tapered interface 212 when the corresponding tapered hook 222 is positioned onto the receiving portion 210 . This tapered engagement, together with the downward force of the robot driver's weight, prevents vertical movement (along the Z axis) of the robot driver.

The receiving portion 210 of the exemplary post 202 further includes a tapered cavity 214 in the vertical plane of the receiving portion 210 . A tapered cavity 214 is formed on the side of the receiving portion facing the robot drive 204 . Correspondingly, the attachment interface 220 of the robot driver 204 is provided with a tapered protrusion 224 on a side surface of the attachment interface 220 . A tapered protrusion 224 is formed on a side surface of the attachment interface 220 facing the receiving portion 210 and is thus positioned to be received by the tapered cavity 214 of the receiving portion 210 as shown in the cross-sectional views of FIGS. 13 and 15 . The engagement of the tapered cavity 214 and the tapered protrusion 224 minimizes or prevents (pitch) rotation of the robot drive about the Y-axis.

The taper of the tapered protrusion 224 and the tapered cavity 214 is orthogonal to the taper of the tapered hook 222 and the tapered interface 212 . In particular, when the tapered hook 222 and the tapered interface 212 taper downward in the vertical plane (X-Z plane), the tapered protrusion 224 and the tapered cavity 214 taper in the horizontal plane (X-Y plane). Engagement of the tapered protrusion 224 with the tapered cavity 214 minimizes or prevents (yaw) rotation of the robotic actuator about the Z-axis. The combination of the engagement of the hook 222 with the protrusion interface 212 and the engagement of the tapered protrusion 224 with the tapered cavity 214 minimizes or prevents (rolling) rotation of the robot drive 24 about the X-axis. Thus, the combination of engagement of the various tapered surfaces provides the stiffness of the attachment in the required six degrees of freedom. Note that the lower taper relies on the rolling moment of the driver mass to keep it firmly engaged.

This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to make and use the invention. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments.

Many other changes and modifications can be made to the present invention without departing from the spirit of the present invention. The scope of these and other changes will become apparent in the appended claims.

Claims (12)

1. A robotic medical system comprising: a post substantially vertical and coupled to the base; a robot driver having a socket for receiving the column; and At least one tapered interface shaped and oriented to engage the socket to prevent rotation of the robotic drive about at least one axis. 2. The robotic medical system of claim 1, wherein the tapered interface comprises at least two tapered keys. 3. The robotic medical system of claim 2, wherein the post is substantially cylindrical and the tapered keys are positioned at approximately 180 degree intervals along the circumference of the post. 4. The robotic medical system of claim 2, wherein said receptacle includes a tapered cavity shaped and positioned to receive said tapered key and cause said post and said robotic actuator to physical connection. 5. The robotic medical system of claim 1, wherein the post includes at least one insertion interface to facilitate insertion of the post into the receptacle. 6. The robotic medical system of claim 5, wherein the post is cylindrical, and the insertion interface includes at least one cylindrical portion along the length of the post, the cylindrical portion configured as Engage the inner bushing of the socket. 7. The robotic medical system of claim 6, wherein the at least one cylindrical section comprises a plurality of cylindrical sections spaced along the length of the post. 8. The robotic medical system of claim 7, wherein the plurality of cylindrical sections have gradually decreasing diameters along the length of the post. 9. The robotic medical system of claim 5, wherein the insertion interface includes a male tip at a terminal end of the post. 10. The robotic medical system of claim 2, wherein each tapered key extends from a conical portion of the post to an outer perimeter of a base portion of the post. 11. The robotic medical system of claim 1, wherein the post has a cross-sectional shape selected from one of circular, elliptical, or polygonal. 12. The robotic medical system of claim 2, wherein the tapered key includes an inclined surface and a non-inclined surface, wherein the inclined surface is not perpendicular to the base and the non-inclined surface is substantially perpendicular to the base.